Parking control apparatus for vehicle and method thereof

ABSTRACT

Disclosed are a parking control apparatus for a vehicle and a method thereof. The parking control apparatus includes a processor that searches for at least one parking space in a parking control of a vehicle, calculates an estimated route and a required parking time for each of the at least one parking space, and performs parking control into a target parking space which is one parking space selected from the at least one parking space by a user, and a display that displays the estimated route and the required parking time for each of the at least one parking space.

CROSS-REFERENCE TO RELATED APPLICATION

This application claims the benefit of priority to Korean PatentApplication No. 10-2019-0077580, filed in the Korean IntellectualProperty Office on Jun. 28, 2019, the entire contents of which areincorporated herein by reference.

TECHNICAL FIELD

The present disclosure relates to a parking control apparatus for avehicle and a method thereof, and more particularly, to an automaticparking control technique that reflects user intention.

BACKGROUND

As there have been developed various kinds of sensors and electronicequipment for vehicles, a vehicle having a driving assistance functionfor assisting user driving and improving driving safety and conveniencehas been attracting attention.

Particularly, there has been a growing interest in automatic parkingtechnology that automatically performs parking in which a user hasdifficulty to operate. Thus, a technique for detecting a parking lineusing a sensor such as a camera and performing automatic parking in aparking space detected in the parking line has been developed. Inaddition, a remote smart assist system has been developed as anautomatic parking technique.

However, according to a conventional remote smart parking assist system,when an object or a parking line is checked to search for a plurality ofparking spaces and the parking spaces are displayed, one of thedisplayed parking spaces is selected by the user and the parking to theselected parking space is controlled. However, it is impossible to knowwhich parking space is optimal for the user among the plurality ofparking spaces and whether the parking space reflects the tendency ofthe user.

That is, it is difficult to select an optimal parking space becausethere is not enough information for selecting a parking space requiredfor selecting one of the plurality of parking spaces in the parkingassist system based on the conventional remote smart parking assistsystem. In addition, because after the parking control, the parkingspace does not match the intention desired by the user, the user maydirectly and additionally adjust the position, so that the usercomplaints may be increased.

SUMMARY

The present disclosure has been made to solve the above-mentionedproblems occurring in the prior art while advantages achieved by theprior art are maintained intact.

An aspect of the present disclosure provides a parking control apparatuswhich is capable of providing information about a parking space to auser in support of automatic parking such that a parking space can beselected suitable to user intention, and a method thereof.

The technical problems to be solved by the present inventive concept arenot limited to the aforementioned problems, and any other technicalproblems not mentioned herein will be clearly understood from thefollowing description by those skilled in the art to which the presentdisclosure pertains.

According to an aspect of the present disclosure, a parking controlapparatus includes a processor that searches for at least one parkingspace in a parking control of a vehicle, calculates an estimated routeand a required parking time for each of the at least one parking space,and performs parking control into a target parking space which is oneparking space selected from the at least one parking space by a user,and a display that displays the estimated route and the required parkingtime for each of the at least one parking space.

The processor may perform the parking control based on a parking targetmode or a parking alignment mode input by the user.

The parking target mode may include a shortest time parking mode inwhich parking is completed in a shortest time, and an optimum alignmentparking mode in which the vehicle is parked in the target parking spaceand is arranged to keep a distance from a parking line or an obstacle.

The processor may calculate an estimated parking route and a requiredparking time for the target parking space in the parking target mode andthe parking alignment mode, and the display may display the estimatedparking route and the required parking time in the parking target modeand the parking alignment mode.

The parking alignment mode may include an obstacle proximity parkingmode in which the vehicle approaches an obstacle, a center-alignmentparking mode, a driver seat convenience parking mode, and a passengerseat convenience parking mode.

The processor may determine whether the vehicle is moving when one ofthe at least one parking space is not selected by the user, and searchfor a parking space when the vehicle is moving.

The processor may calculate a remaining time until the parkingcompletion in the required parking time during the parking control tothe target parking space, and the display may display the remainingtime.

The display may transfer, to the processor, information about one of theat least one parking space displaced on a screen when the one parkingspace is touched.

The display may list and display the parking target mode or the parkingalignment mode and receive a selection of one of listed menus by a user.

The processor may list the parking target mode or the parking alignmentmode on a screen and deactivate a menu having no selection informationamong the listed menus.

According to another aspect of the present disclosure, a parking controlapparatus includes a processor that searches for at least one parkingspace when a vehicle is automatically parked, calculates an estimatedroute and a required parking time for each of the at least one parkingspace, and performs parking control into a target parking space which isone parking space selected from the at least one parking space by auser, and a display that displays the estimated route and the requiredparking time for each of the at least one parking space.

The processor may calculate an estimated route and a required parkingtime for realigning a parking space in which the vehicle is currentlyparked when a parking realignment mode is selected by the user aftermanual parking of the vehicle is completed and control a parkingrealignment.

The processor may receive the parking realignment mode input from theuser when performing the parking realignment and control the parkingrealignment based on the inputted parking alignment mode.

According to still another aspect of the present disclosure, a parkingcontrol apparatus includes a processor that searches for an exit spaceupon entry into an exit mode, calculate an estimated route and arequired exit time in each exit direction, and control an exit of avehicle in an exit direction selected by a user, and a display thatdisplays the estimated route and the required exit time in each exitdirection.

The processor may control the exit of the vehicle based on an exittarget mode when controlling the exit of the vehicle in the selectedexit direction.

The exit target mode may include a shortest time exit mode in which theexit of the vehicle is completed in a shortest time and an optimumseparation exit mode in which the vehicle is controlled to maintain aspecified distance from an obstacle.

The processor may calculate the estimated route and the required exittime in each exit direction every time the exit target mode is changedby a user, and the display may display the estimated route and therequired exit time in each exit direction in the changed exit targetmode.

According to still another aspect of the present disclosure, a parkingcontrol method includes searching for at least one parking space in aparking control of a vehicle, calculating an estimated route and arequired parking time for each of the at least one parking space,displaying the estimated route and the required parking time calculatedfor each of the at least one parking spaces, receiving a selection ofone of the at least one parking space by a user as a target parkingspace, and performing parking control to the target parking space.

The performing of the parking control to the target parking space mayinclude performing the parking control based on a parking target mode ora parking alignment mode input from the user.

The parking target mode may include a shortest time parking mode inwhich parking is completed in a shortest time, and an optimum alignmentparking mode in which the vehicle is parked in the target parking spaceand is arranged to keep a distance from a parking line or an obstacle,and the parking alignment mode may include an obstacle proximity parkingmode in which the vehicle approaches an obstacle, a center-alignmentparking mode, a driver seat convenience parking mode, and a passengerseat convenience parking mode.

BRIEF DESCRIPTION OF THE DRAWINGS

The above and other objects, features and advantages of the presentdisclosure will be more apparent from the following detailed descriptiontaken in conjunction with the accompanying drawings:

FIG. 1 is a block diagram illustrating a configuration of a vehiclesystem including a parking control apparatus according to an embodimentof the present disclosure;

FIG. 2A is a view illustrating an example of searching a plurality ofparking spaces by a parking control apparatus according to an embodimentof the present disclosure;

FIG. 2B is a view illustrating an example of displaying the requiredparking time on a plurality of parking space search screens of theparking control apparatus according to an embodiment of the presentdisclosure;

FIG. 2C is a view illustrating an example of remaining time duringparking control of the parking control apparatus according to anembodiment of the present disclosure;

FIG. 3 is a flowchart illustrating a parking control method according toan embodiment of the present disclosure;

FIG. 4A is a view illustrating a screen for selecting a parking targetmode by a parking control apparatus according to an embodiment of thepresent disclosure;

FIG. 4B is a view illustrating an example of the shortest time parkingmode of the parking control apparatus according to an embodiment of thepresent disclosure;

FIG. 4C is an exemplary view illustrating an optimum alignment parkingmode of a parking control apparatus according to an embodiment of thepresent disclosure;

FIG. 4D is an exemplary view illustrating a screen for selecting aparking alignment mode of a parking control apparatus according to anembodiment of the present disclosure;

FIG. 4E is an exemplary view illustrating the non-recognition of apillar/wall of a parking control apparatus according to an embodiment ofthe present disclosure;

FIG. 5 is an exemplary view illustrating a setting of the shortest timeparking mode of a parking control apparatus according to an embodimentof the present disclosure;

FIG. 6 is an exemplary view illustrating setting of an optimum alignmentparking mode of a parking control apparatus according to an embodimentof the present disclosure;

FIG. 7 is a flowchart illustrating a smart exit control method accordingto an embodiment of the present disclosure;

FIG. 8 is a flowchart illustrating a parking control method for aparking realignment after completion of manual parking according to anembodiment of the present disclosure; and

FIG. 9 is a view illustrating a computing system according to anembodiment of the present disclosure.

DETAILED DESCRIPTION

Hereinafter, some embodiments of the present disclosure will bedescribed in detail with reference to the exemplary drawings. In addingthe reference numerals to the components of each drawing, it should benoted that the identical or equivalent component is designated by theidentical numeral even when they are displayed on other drawings.Further, in describing the embodiment of the present disclosure, adetailed description of well-known features or functions will be ruledout in order not to unnecessarily obscure the gist of the presentdisclosure.

In describing the components of the embodiment according to the presentdisclosure, terms such as first, second, “A”, “B”, (a), (b), and thelike may be used. These terms are merely intended to distinguish onecomponent from another component, and the terms do not limit the nature,sequence or order of the constituent components. Unless otherwisedefined, all terms used herein, including technical or scientific terms,have the same meanings as those generally understood by those skilled inthe art to which the present disclosure pertains. Such terms as thosedefined in a generally used dictionary are to be interpreted as havingmeanings equal to the contextual meanings in the relevant field of art,and are not to be interpreted as having ideal or excessively formalmeanings unless clearly defined as having such in the presentapplication.

The present disclosure may be applied to remote smart parking assist(RSPA) technology.

Hereinafter, embodiments of the present disclosure will be described indetail with reference to FIGS. 1 to 9.

FIG. 1 is a block diagram illustrating a configuration of a vehiclesystem including a parking control apparatus according to an embodimentof the present disclosure.

Referring to FIG. 1, a vehicle system according to an embodiment of thepresent disclosure may include a parking control apparatus 100, asensing device 200, a steering control device 300, a brake controldevice 400, and an engine control device 500.

The parking control apparatus 100 may search for at least one parkingspace in the parking control of a vehicle, calculate an estimated routeand a required parking time for each of the at least one parking space,and perform parking control into a target parking space which is oneparking space selected from the at least one parking space by a user.

The parking control apparatus 100 may include a communicator 110,storage 120, a display 130, and a processor 140.

The communicator 110 is a hardware device implemented by variouselectronic circuits for transmitting and receiving a signal through awireless or wired connection. In the present disclosure, in-vehiclecommunication may be performed through CAN communication, LINcommunication, Ethernet communication, or the like and the communicator110 may communicate with the sensing device 200, the steering controldevice 300, the brake control device 400, the engine control device 500,and the like.

The storage 120 may store a sensing result of the sensing device 200,and parking space information, estimated parking route information,required parking time, and the like obtained by the processor 140. Thestorage 120 may include at least one type of a storage medium ofmemories of a flash memory type, a hard disk type, a micro type, a cardtype (e.g., a secure digital (SD) card or an extreme digital (XD) card),and the like, and a random access memory (RAM), a static RAM, aread-only memory (ROM), a programmable ROM (PROM), an electricallyerasable PROM (EEPROM), a magnetic memory (MRAM), a magnetic disk, andan optical disk type memory.

The display 130 may display the parking space, the estimated parkingroute for each parking space, and the required parking time, theremaining time until parking is completed during parking control, aparking alignment mode menu list, a parking target mode menu list, anexit target mode menu list, an estimated exit route for each exitdirection, a required exit time, and the like, and receive a menuselection from the user. The display 130 may be implemented as a head-updisplay (HUD), a cluster, an audio video navigation (AVN), or the like.In addition the display 130 may include at least one of a liquid crystaldisplay (LCD), a thin film transistor liquid crystal display (TFT LCD),a light emitting diode (LED) display, an organic light emitting diode(OLED) display, an active matrix OLED (AMOLED) display, a flexibledisplay, a bended display, and a 3D display. Some of these displays maybe implemented as transparent displays that are transparent ortranslucent to allow viewing of an outside. In addition, the display 130may be provided as a touch screen including a touch panel, and may beused as an input device in addition to an output device.

The processor 140 may be electrically connected to the communicator 110,the storage 120, the display 130, and the like, electrically controleach configuration, and may be an electrical circuit that executessoftware commands, thereby performing various data processing andcalculations described below.

The processor 140 may search for at least one parking space in theparking control of the vehicle, calculate an estimated route and arequired parking time for each of the at least one parking space, andperform parking control into a target parking space which is one parkingspace selected from the at least one parking space by a user.

The processor 140 may perform the parking control based on a parkingtarget mode or a parking alignment mode input by the user. In this case,the parking target mode may include a shortest time parking mode inwhich parking may be completed in the shortest time, and an optimumalignment parking mode in which the vehicle may be parked in the targetparking space and is arranged to keep a distance from a parking line oran obstacle (e.g., a neighbor vehicle, a column, a wall, and the like).That is, the shortest time parking mode is a mode in which the parkingcontrol is performed based on the shortest time even though thealignment of the vehicle is skewed or shifted to one side. The optimumalignment parking mode is a mode in which the vehicle is arranged to bespaced apart from a parking line or an obstacle even though parkingtakes a long time.

In addition, the parking alignment mode may include an obstacleproximity parking mode in which the vehicle approaches an obstacle, acenter-alignment parking mode in which the vehicle is arranged in thecenter of the parking space, a driver seat convenience parking mode inwhich the vehicle is arranged such that the distance between a driverseat and an obstacle on a driver seat side is larger than the distancebetween a passenger seat and the obstacle on a passenger seat side toallow a driver to easily get off the driver seat, and a passenger seatconvenience parking mode in which the vehicle is arranged such that thedistance between the passenger seat and the obstacle on the passengerseat side is larger than the distance between the driver seat and theobstacle on the driver seat side to allow a passenger to easily get offthe passenger seat.

For the target parking space, the processor 140 may calculate theestimated parking route and the required parking time based on theparking target mode and the parking alignment mode. In this case, theestimated parking route and the required parking time calculated in theparking target mode and parking alignment mode may be displayed throughthe display 130.

The processor 140 may determine whether the vehicle is moving when oneof the at least one parking space is not selected by the user, andsearch the parking spaces again when the vehicle is moving.

The processor 140 may calculate the remaining time until the parkingcompletion in parking during the parking control to the target parkingspace, and the remaining time may be displayed through the display 130.In this case, when one of the at least one parking space displayed on ascreen is touched, the display 130 transmits information of the touchedparking space to the processor 140, so that the processor 140 determinesthe touched parking space as the target parking space.

The processor 140 may list the parking target mode or the parkingalignment mode on the screen, but may deactivate the menu having noselection information among the listed menus. For example, when theparking alignment mode is the obstacle proximity parking mode, thecenter-alignment parking mode, the driver seat convenience parking mode,and the passenger seat convenience parking mode and the obstacleproximity parking mode menu may be deactivated to prevent a user fromselecting the obstacle proximity parking mode menu when obstacles(pillars, walls) are not recognized.

The processor 140 may search for at least one parking space in theautomatic parking of the vehicle, calculate the estimated route and therequired parking time for each of the at least one parking space, andperform the parking control into the target parking space which is oneparking space selected from the at least one parking space by the user.

When a parking realignment mode is selected by the user after manualparking of the vehicle is completed, the processor 140 may calculate anestimated route and a required parking time for realigning a parkingspace in which the vehicle is currently parked and control a parkingrealignment.

The processor 140 may receive the parking realignment mode input fromthe user when the parking realignment is performed and may control theparking realignment based on the inputted parking alignment mode.

The processor 140 may search for an exit space upon entry into an exitmode, calculate an estimated route and a required exit time in each exitdirection, and control an exit of a vehicle in an exit directionselected by the user.

The processor 140 may control the exit of the vehicle based on the exittarget mode selected by the user when controlling the exit of thevehicle in the selected exit direction. In this case, the exit targetmode may include a shortest time exit mode in which the exit of thevehicle is completed in a shortest time and an optimum separation exitmode in which the vehicle is controlled to maintain a specified distancefrom an obstacle.

The processor 140 may calculate the estimated route and the requiredexit time in each exit direction every time the exit target mode ischanged by the user, and display the estimated route and the requiredexit time in each exit direction in the changed exit target mode throughthe display 130.

The sensing device 200 may include a plurality of sensors for sensing aparking space, an exit space, a parking lot line, and an object outsidevehicle. To this end, the sensing device 200 may include an ultrasonicsensor 210, a camera 220, and the like. Although not shown in FIG. 1,the sensing device 200 may include a radar, a laser scanner, a cornerradar, a LIDAR, an acceleration sensor, a yaw rate sensor, a torquemeasurement sensor, a wheel speed sensor, a steering angle sensor, andthe like to search for a parking space and calculate a required parkingtime.

In the present disclosure, the parking space may be detected by usingthe ultrasonic sensor 210. It is possible to determine whether there isan obstacle by using the camera 220. The current location of the vehiclemay be estimated to generate a parking route by using the wheel speedsensor, the steering angle sensor, the ultrasonic sensor, and the like.In addition, the location of the target parking space, the size of thetarget parking space, the parking information (e.g., the estimatedparking route, the required parking time, and the like) may be obtainedthrough the sensing device 200.

The steering control device 300 may be configured to control thesteering angle of a vehicle, and may include a steering wheel, anactuator interworking with the steering wheel, and a controller forcontrolling the actuator.

The brake control device 400 may be configured to control the braking ofthe vehicle, and may include a controller for controlling a brake.

The engine control device 500 may be configured to control the enginedrive of the vehicle, and may include a controller that controls thespeed of the vehicle.

The steering control device 300, the brake control device 400, and theengine control device 500 move the vehicle to the target parking spacein cooperation with the parking control apparatus 100.

FIG. 2A is a view illustrating an example of searching a plurality ofparking spaces by a parking control apparatus according to an embodimentof the present disclosure.

FIG. 2B is a view illustrating an example of displaying the requiredparking time on a plurality of parking space search screens of theparking control apparatus according to an embodiment of the presentdisclosure. Referring to FIG. 2B, it may be understood that the parkingcontrol apparatus 100 displays the estimated route and the required timefor the searched parking space.

FIG. 2C is a view illustrating an example of remaining time duringparking control of the parking control apparatus according to anembodiment of the present disclosure. Referring to FIG. 2C, it may beunderstood that the parking control apparatus 100 displays the remainingtime during control.

Hereinafter, a parking control method according to an embodiment of thepresent disclosure will be described with reference to FIG. 3. FIG. 3 isa flowchart illustrating a parking control method according to anembodiment of the present disclosure.

Hereinafter, it is assumed that the parking control apparatus 100 ofFIG. 1 performs the process of FIG. 3. In addition, in the descriptionof FIG. 3, it may be understood that the operations described as beingperformed by the apparatus are controlled by the processor 140 of theparking control apparatus 100.

Referring to FIG. 3, in operation S101, the parking control apparatus100 moves for searching for a parking space when entering the parkingmode.

The parking control apparatus 100 determines whether a parking space isfound in operation S102, and when a parking space is found, the parkingcontrol apparatus 100 calculates the estimated route and the requiredtime for each parking space and displays on a parking space screen inoperation S103. In this case, the estimated route and the required timefor each parking space may be output through the display 130. In thiscase, the types of supportable parking spaces may include reverse rightangle parking, forward right angle parking, reverse parallel parking,backward diagonal parking, forward diagonal parking, and the like. Inaddition, the parking control apparatus 100 may estimate the movingroute of the vehicle to park the vehicle in the parking space tocalculate the estimated route, and calculate the time it takes to travelalong the estimated route.

The parking control apparatus 100 may determine whether the targetparking space is selected by the user in operation S104. When the targetparking space is not selected, the parking control apparatus 100 maydetermine whether the vehicle is in a moving state in operation S105.When the vehicle is in the moving state, the parking control apparatus100 may determine that the vehicle is moving for a new search for aparking space.

Meanwhile, in operation S106, when the user selects the target parkingspace, the parking control apparatus 100 determines whether the parkingtarget mode is selected. In this case, when the parking space outputtedto the display 130 is touched by the user, the corresponding parkingspace may be selected.

When the parking target mode is selected, the parking control apparatus100 receives a selection of the shortest-time parking mode or theoptimum alignment parking mode as the parking target mode in operationS107.

Meanwhile, when the parking target mode is not selected, or when one ofthe shortest-time parking mode and the optimum alignment parking mode isselected, the parking control apparatus 100 receives the selection ofthe parking alignment mode in operation S108.

When the parking alignment mode is selected, the parking controlapparatus 100 may receive the selection of one of the obstacle (e.g., apillar a wall, or like) proximity parking mode, the center-alignmentparking mode, the driver seat convenience parking mode, and thepassenger seat convenience parking mode. In this case, the optimumalignment parking mode and the center alignment parking mode may be setas default, and the user may change the parking target mode and theparking alignment mode.

When the parking alignment mode is selected, the parking controlapparatus 100 performs parking control in the corresponding parkingalignment mode in operation S110.

When the parking control is performed without selecting the parkingtarget mode in operation S107 and the parking alignment mode inoperation S108, in operation S110, the parking control apparatus 100performs the parking control based on the parking target mode and theparking alignment mode set as default.

The default setting of the parking target mode in operation S107corresponds to optimum alignment parking, and the default setting of theparking alignment mode in operation S109 corresponds to center alignmentparking.

The default settings of the parking target mode in operation S107 andthe parking alignment mode in operation S109 may be changed through aseparate user input device. Although the user input device is not shownin FIG. 1, the user input device may be implemented with a userinterface input device 1400 of FIG. 9.

As described above, the parking control apparatus 100 of the presentdisclosure may search for one parking space when the user travels tosearch for a parking space, and may search for a plurality of parkingspaces corresponding to the surrounding environment. In addition, theparking control apparatus 100 may display estimated parking routes andrequired time for one or a plurality of searched parking spaces on ascreen so that the user predicts the parking situation and it ispossible to support a parking system that is suitable for personalpreference.

In addition, when the target parking space is selected, the parkingcontrol apparatus 100 selects the parking target mode to select whetherto perform parking in the shortest time even if the parking alignment isslightly changed, or to complete the optimum alignment even if theparking time takes a little longer, thereby supporting the parkingsystem suitable for user preference.

In addition, the parking control apparatus 100 selects the parkingalignment mode and is set in the center parking mode as default.However, the user may select at least one of the pillar/wall proximityparking, the center alignment parking, the driver seat convenienceparking, and the like.

The parking control apparatus 100 may then start the parking control byreflecting such set parking target and mode on the control mode.

FIG. 4A is a view illustrating a screen for selecting a parking targetmode by a parking control apparatus according to an embodiment of thepresent disclosure. FIG. 4A illustrates an example in which the requiredtime of 1 minute and 10 seconds is taken when the optimum alignmentparking mode is selected (401), and an example in which the requiredtime of 48 seconds is taken when the shortest time parking mode isselected (402).

FIG. 4B is a view illustrating an example of the shortest time parkingmode of the parking control apparatus according to an embodiment of thepresent disclosure. FIG. 4C is an exemplary view illustrating an optimumalignment parking mode of a parking control apparatus according to anembodiment of the present disclosure. FIG. 4B illustrates an example inwhich the vehicle alignment is slightly skewed after parking iscompleted in the shortest time parking mode. FIG. 4C illustrates anexample in which a vehicle is parked in center alignment when parking iscompleted in the optimum alignment parking mode. When the shortest timeparking mode is selected, the parking control apparatus 100 completesparking when it is determined that the parking is completed even thoughthe parking alignment is skewed. The parking control apparatus 100completes parking in parallel on the basis of the left or right targetvehicle or the recognized parking line even though it takes a littletime in the optimum alignment parking mode. When the user changes theparking target mode, the parking control apparatus 100 may change anddisplay the expected time and route corresponding to the target parkingmode. In addition, the parking control apparatus 100 may performautomatic parking control in a preset basic mode (e.g., the optimumalignment parking mode or the center alignment mode) when there is noinput for selecting the target parking mode and the parking alignmentmode from the user.

FIG. 4D is an exemplary view illustrating a screen for selecting aparking alignment mode of a parking control apparatus according to anembodiment of the present disclosure. FIG. 4E is an exemplary viewillustrating the non-recognition of a pillar/wall of a parking controlapparatus according to an embodiment of the present disclosure.Referring to FIG. 4D, the required time is displayed when the driverseat convenience parking mode is selected (403), and the requiredparking time is displayed in the center alignment parking mode (404).FIG. 4E illustrates an example in which the pillar/wall proximityparking mode button is deactivated when the pillar/wall is notrecognized.

The parking control apparatus 100 may receive the selection of theparking alignment mode after the parking target mode is selected, whichis basically set as center alignment parking. In addition, when theparking alignment mode is changed by the user, the parking controlapparatus 100 may change and display the estimated required time androute of the target parking space.

FIG. 5 is an exemplary view illustrating a setting of the shortest timeparking mode of a parking control apparatus according to an embodimentof the present disclosure. FIG. 5 illustrates examples in thepillar/wall proximity parking mode (501), the center alignment parkingmode (502), the driver seat convenience parking mode (503), and thepassenger seat convenience parking mode (504) when the parking controlapparatus 100 controls parking in the shortest time parking mode. Thatis, the parking control apparatus 100 may perform the parking alignmentin the shortest time even though the alignment of the vehicle is skewed.

FIG. 6 is an exemplary view illustrating setting of an optimum alignmentparking mode of a parking control apparatus according to an embodimentof the present disclosure. FIG. 6 illustrates examples in thepillar/wall proximity parking mode (601), the center alignment parkingmode (602), the driver seat convenience parking mode (603), and thepassenger seat convenience parking mode (604) when the parking controlapparatus 100 controls parking in the optimum alignment parking mode. Inthe pillar/wall proximity parking mode, parking is performed as close aspossible to the pillar. In the center alignment parking mode, parking isperformed in the center while being spaced apart from both side parkinglines by the same distance. In addition, in the driver seat convenienceparking mode, parking may be performed to further increase the distancefrom the parking line on the driver seat side to the vehicle so that theuser of the driver seat may easily get off. In the passenger seatconvenience parking mode, parking may be performed to further increasethe distance from the parking line on the passenger seat side to thevehicle so that the user of the passenger seat may easily get off.

FIG. 7 is a flowchart illustrating a smart exit control method accordingto an embodiment of the present disclosure.

Hereinafter, it is assumed that the parking control apparatus 100 ofFIG. 1 performs the process of FIG. 7. In addition, in the descriptionof FIG. 7, it may be understood that the operations described as beingperformed by the apparatus are controlled by the processor 140 of theparking control apparatus 100.

Referring to FIG. 7, in operation S201, when the parking controlapparatus 100 enters the smart exit mode, the parking control apparatus100 searches for a space for exit.

In operation S202, the parking control apparatus 100 determines whetherthe exit space is detected, and releases the smart exit mode when theexit space is not found in operation S203.

In operation S204, when the exit space is found, the parking controlapparatus 100 calculates the estimated route and required time in eachexit direction and outputs the estimated route and required time throughthe display 130. When one of the estimated routes in each exit directiondisplayed on the display 130 is touched by the user, the correspondingexit direction may be selected.

The parking control apparatus 100 receives the selection of the exitdirection from the user in operation S205. When the exit direction isnot selected, the parking control apparatus 100 determines whether thevehicle is moving in operation S206. When the vehicle is moving, theparking control apparatus 100 determines that the vehicle is moving forexit and searches for an exit space again in operation S201.

Meanwhile, when the exit direction is selected by the user, the parkingcontrol apparatus 100 receives the selection of the exit target mode inoperation S207. When the exit target mode is not selected, the parkingcontrol apparatus 100 performs the exit control in the basic exit targetmode in operation S209.

Meanwhile, when one of the shortest time exit mode and the optimumseparation exit mode of the exit target mode is selected in operationS208, the parking control apparatus 100 performs exit control in theselected exit mode in operation S209.

As described above, the parking control apparatus 100 of the presentdisclosure simultaneously displays the estimated route and the requiredtime on the parking space display screen when the space search for smartexit is completed, and receives the exit target mode from the user. Inthis case, when the shortest time exit mode is selected as the exittarget mode, because the parking distance warning sound may frequentlyoccur, anxiety may be caused and a strong sense of braking to theobstacle may occur.

In addition, when the optimum separation exit mode is selected as theexit target mode, the exit time may take longer, but the parkingdistance warning sound may not occur, and a smooth sense of braking tothe obstacle may be provided.

FIG. 8 is a flowchart illustrating a parking control method for aparking realignment after completion of manual parking according to anembodiment of the present disclosure.

Hereinafter, it is assumed that the parking control apparatus 100 ofFIG. 1 performs the process of FIG. 8. In addition, it may be understoodthat the operations described in FIG. 8 as being performed by theapparatus are controlled by the processor 140 of the parking controlapparatus 100.

Referring to FIG. 8, after the manual parking is completed in operationS301, the parking control apparatus 100 checks whether the parkingrealignment mode is selected by the user in operation S302.

When the parking realignment mode is not selected, the parking controlapparatus 100 determines that parking is completed and ends the vehiclesystem.

Meanwhile, when the parking realignment mode is selected, the parkingcontrol apparatus 100 calculates the estimated route and the requiredtime for a parking realignment and outputs the estimated route and therequired time on the screen in operation S303. Then, the parking controlapparatus 100 receives the selection of the parking alignment mode bythe user in operation S304.

When the parking alignment mode is not selected, the parking controlapparatus 100 starts the parking alignment compensation control in theparking alignment mode set as default in operation S306.

When one of the pillar/wall proximity parking mode, the center alignmentparking mode, the driver seat convenience parking mode, and thepassenger seat convenience parking mode is selected as the parkingalignment mode in operation S305, the parking control apparatus 100performs the parking alignment compensation control in operation S306.

After the user completes the manual parking, it may be difficult to parkthe vehicle close to the desired angle of alignment or the pillar/wallaccording to the personal parking skill. Thus, when the parkingrealignment mode (the automatic realignment mode by the parkingcontroller 100) is selected by the user after completion of the manualparking, the parking control apparatus 100 of the present disclosurerecognizes the surrounding space situation through the camera and theultrasonic sensor, and calculates and displays the estimated route andrequired time in the basic realignment mode (e.g., a center alignment)based on the generated route.

When the parking alignment mode is selected by the user for the parkingrealignment, the parking control apparatus 100 may recalculate therequired time and route in the selected parking alignment mode andoutput the estimated time and route. In addition, when the parking modebutton for entering the parking mode is inputted, the parking controlapparatus 100 may perform the parking alignment compensation control asfinal setting.

As described above, according to the present disclosure, by guiding theestimated time required for parking, the user selects the parking modeaccording to the intention desired by the user and parking isautomatically performed, so that the automatic parking is supported byreflecting the user tendency, thereby increasing the merchantability andconvenience for individual consumers.

In addition, according to the present disclosure, it is possible toremove the psychological anxiety of the user about the situation ofstopping in proximity to an object in the automatic parking by guidingthe estimated parking route.

FIG. 9 is a view illustrating a computing system according to anembodiment of the present disclosure.

Referring to FIG. 9, a computing system 1000 may include at least oneprocessor 1100, a memory 1300, a user interface input device 1400, auser interface output device 1500, storage 1600, and a network interface1700, which are connected with each other via a bus 1200.

The processor 1100 may be a central processing unit (CPU) or asemiconductor device that processes instructions stored in the memory1300 and/or the storage 1600. The memory 1300 and the storage 1600 mayinclude various types of volatile or non-volatile storage media. Forexample, the memory 1300 may include a ROM (Read Only Memory) and a RAM(Random Access Memory).

Thus, the operations of the method or the algorithm described inconnection with the embodiments disclosed herein may be embodieddirectly in hardware or a software module executed by the processor1100, or in a combination thereof. The software module may reside on astorage medium (that is, the memory 1300 and/or the storage 1600) suchas a RAM, a flash memory, a ROM, an EPROM, an EEPROM, a register, a harddisk, a removable disk, a CD-ROM.

The exemplary storage medium may be coupled to the processor 1100, andthe processor 1100 may read information out of the storage medium andmay record information in the storage medium. Alternatively, the storagemedium may be integrated with the processor 1100. The processor 1100 andthe storage medium may reside in an application specific integratedcircuit (ASIC). The ASIC may reside within a user terminal. In anothercase, the processor 1100 and the storage medium may reside in the userterminal as separate components.

According to the present technology, it is possible to increase theconvenience of the user by providing information about a parking spaceto the user in support of automatic parking so that a parking space canbe selected suitable to user intention.

In addition, various effects that are directly or indirectly understoodthrough the present disclosure may be provided.

Hereinabove, although the present disclosure has been described withreference to exemplary embodiments and the accompanying drawings, thepresent disclosure is not limited thereto, but may be variously modifiedand altered by those skilled in the art to which the present disclosurepertains without departing from the spirit and scope of the presentdisclosure claimed in the following claims.

Therefore, the exemplary embodiments of the present disclosure areprovided to explain the spirit and scope of the present disclosure, butnot to limit them, so that the spirit and scope of the presentdisclosure is not limited by the embodiments. The scope of the presentdisclosure should be construed on the basis of the accompanying claims,and all the technical ideas within the scope equivalent to the claimsshould be included in the scope of the present disclosure.

1. A parking control apparatus comprising: a processor configured tosearch for at least one parking space in a parking control of a vehicle,calculate an estimated route and a required parking time for each of theat least one parking space, and perform parking control into a targetparking space which is one parking space selected from the at least oneparking space by a user; and a display configured to display theestimated route and the required parking time for each of the at leastone parking space.
 2. The parking control apparatus of claim 1, whereinthe processor is configured to perform the parking control based on aparking target mode or a parking alignment mode input by the user. 3.The parking control apparatus of claim 2, wherein the parking targetmode includes a shortest time parking mode in which parking is completedin a shortest time, and an optimum alignment parking mode in which thevehicle is parked in the target parking space and is arranged to keep adistance from a parking line or an obstacle.
 4. The parking controlapparatus of claim 2, wherein the processor is configured to calculatean estimated parking route and a required parking time for the targetparking space in the parking target mode and the parking alignment mode,and wherein the display is configured to display the estimated parkingroute and the required parking time in the parking target mode and theparking alignment mode.
 5. The parking control apparatus of claim 2,wherein the parking alignment mode includes an obstacle proximityparking mode in which the vehicle approaches an obstacle, acenter-alignment parking mode, a driver seat convenience parking mode,and a passenger seat convenience parking mode.
 6. The parking controlapparatus of claim 1, wherein the processor is configured to determinewhether the vehicle is moving when one of the at least one parking spaceis not selected by the user, and search for a parking space when thevehicle is moving.
 7. The parking control apparatus of claim 1, whereinthe processor is configured to calculate a remaining time until theparking completion in the required parking time during the parkingcontrol to the target parking space, and wherein the display isconfigured to display the remaining time.
 8. The parking controlapparatus of claim 1, wherein the display is configured to transfer, tothe processor, information about one of the at least one parking spacedisplaced on a screen when the one parking space is touched.
 9. Theparking control apparatus of claim 2, wherein the display is configuredto list and display the parking target mode or the parking alignmentmode and receive a selection of one of listed menus by a user.
 10. Theparking control apparatus of claim 1, wherein the processor isconfigured to list the parking target mode or the parking alignment modeon a screen and deactivate a menu having no selection information amongthe listed menus.
 11. A parking control apparatus comprising: aprocessor configured to search for at least one parking space when avehicle is automatically parked, calculate an estimated route and arequired parking time for each of the at least one parking space, andperform parking control into a target parking space which is one parkingspace selected from the at least one parking space by a user; and adisplay configured to display the estimated route and the requiredparking time for each of the at least one parking space.
 12. The parkingcontrol apparatus of claim 11, wherein the processor is configured tocalculate an estimated route and a required parking time for realigninga parking space in which the vehicle is currently parked when a parkingrealignment mode is selected by the user after manual parking of thevehicle is completed and control a parking realignment.
 13. The parkingcontrol apparatus of claim 12, wherein the processor is configured toreceive the parking realignment mode input from the user when performingthe parking realignment and control the parking realignment based on theinputted parking alignment mode.
 14. A parking control apparatuscomprising: a processor configured to search for an exit space uponentry into an exit mode, calculate an estimated route and a requiredexit time in each exit direction, and control an exit of a vehicle in anexit direction selected by a user; and a display configured to displaythe estimated route and the required exit time in each exit direction.15. The parking control apparatus of claim 14, wherein the processor isconfigured to control the exit of the vehicle based on an exit targetmode when controlling the exit of the vehicle in the selected exitdirection.
 16. The parking control apparatus of claim 14, wherein theexit target mode includes a shortest time exit mode in which the exit ofthe vehicle is completed in a shortest time and an optimum separationexit mode in which the vehicle is controlled to maintain a specifieddistance from an obstacle.
 17. The parking control apparatus of claim14, wherein the processor is configured to calculate the estimated routeand the required exit time in each exit direction every time the exittarget mode is changed by a user, and wherein the display is configuredto display the estimated route and the required exit time in each exitdirection in the changed exit target mode.
 18. A parking control methodcomprising: searching for at least one parking space in a parkingcontrol of a vehicle; calculating an estimated route and a requiredparking time for each of the at least one parking space; displaying theestimated route and the required parking time calculated for each of theat least one parking spaces; receiving a selection of one of the atleast one parking space by a user as a target parking space; andperforming parking control to the target parking space.
 19. The parkingcontrol method of claim 18, wherein the performing of the parkingcontrol to the target parking space includes performing the parkingcontrol based on a parking target mode or a parking alignment mode inputfrom the user.
 20. The parking control method of claim 18, wherein theparking target mode includes a shortest time parking mode in whichparking is completed in a shortest time, and an optimum alignmentparking mode in which the vehicle is parked in the target parking spaceand is arranged to keep a distance from a parking line or an obstacle,and wherein the parking alignment mode includes an obstacle proximityparking mode in which the vehicle approaches an obstacle, acenter-alignment parking mode, a driver seat convenience parking mode,and a passenger seat convenience parking mode.